2A2-B16 Clothes Unfolding by Binding Recognition Motion Primitives and Using Color Range Sensor

摘要

This paper describes the method to unfold clothes, which is a part of sorting-out laundry task. We propose elements of motion and recognition for unfolding clothes. They are called motion primitives and clothes basic information. A unit of motion called handling skill is described by pairing motion primitive and clothes basic information. Clothes basic information is obtained by color range sensor. At last, we show experiment result by humanoid robot HRP-2.